I have applied mahony filter using raw data from vector nav vn100 sensor and compare Euler angles estimated by mahony with those from vector nav vn100 which are computed by kalman filter...the frequency was 200 Hz,kp= 4.5, ki=0.45...magnetometer calibration was done ....the results as in shown in the attached figures..from the figures,roll and pitch are accurate, but yaw are not accurate ...could you help me to know why yaw is not accurate?



  • $\begingroup$ If it has worked for 2/3 dimensions and these dimensions are independent from each other then this sounds like a bug (?). If it is a bug-type question then it would be a bit off-topic here, at least the way it is phrased at the moment. $\endgroup$ – A_A Mar 4 at 11:33

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